Automated Data-Based Irrigation System and Method

Abstract

A system and method for obtaining real-time data regarding the condition of a crop and planning and executing an irrigation cycle in response to the data. The invention uses an unmanned aerial vehicle to survey the conditions within an irrigated area. The irrigation system includes components to vary the amount of water dispensed within particular areas. The data obtained is used to create an irrigation schedule that the irrigation system then carries out. For example, surveyed areas that contain more moisture may be given relatively less water during the next irrigation cycle. The data obtained may also be used to alter a scheduled delivery of fertilizer, pesticide, or some other substance.

Claims

1. A method of optimizing the irrigation of an irrigation area, comprising: a. providing an irrigation system, including a plurality of liquid dispensers, each of which is controlled by a valve; b. providing a processor-based control system running control software, said control system being configured to control the operation of said valves; c. providing an unmanned aerial vehicle including a sensor configured to sense a condition within said irrigation area; d. flying said unmanned aerial vehicle over said irrigation area in order to gather a set of data related to said condition within said irrigation area; e. downloading said set of data from said unmanned aerial vehicle to said processor-based control system; f. wherein said control software uses said set of data to create an irrigation schedule; and g. wherein said irrigation system executes said irrigation schedule, said schedule including modulating said valves.

2. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein; a. said irrigation system is a center pivot system with a series of linear boom assemblies; and b. a UAV base station Is provided on one of said boom assemblies; and c. said unmanned aerial vehicle is docked within said UAV base station when not in use.

3. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said processor-based control system includes a processor in a location other than said irrigation area.

4. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said processor-based control system includes a processor located in said irrigation system.

5. A method for optimizing the irrigation of an irrigation, area as recited in claim 1, comprising said control system turning a particular valve off as said particular valve passes over a defined portion of said irrigation area.

6. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said condition being sensed is moisture content.

7. A method for optimizing the irrigation of an irrigation area as recited in claim 6, wherein said unmanned aerial vehicle uses a short-wave infrared sensor to sense said moisture content.

8. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said unmanned aerial vehicle gathers set of data immediately prior to said execution of said irrigation cycle.

9. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said unmanned aerial vehicle completes said gathering of said set of data within one hour of a commencement of said execution of said irrigation cycle.

10. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein said unmanned aerial vehicle completes said gathering of said set of data within ten minutes of a commencement of said execution of said irrigation cycle.

11. A method of optimizing the irrigation of an irrigation area, comprising: a. providing an irrigation system, including a plurality of liquid dispensers, each of which is controlled by a valve; b. providing a processor-based, control system running control software, said control system being configured to control the operation of said valves; e. providing an unmanned aerial vehicle including a sensor configured to sense a condition within said irrigation area; d. flying said unmanned aerial vehicle over said irrigation area in order to gather a set of data related to said condition within said irrigation area; e. downloading said set of data from said unmanned aerial vehicle to said processor-based control system; and f. wherein said control software uses said set of data to create an irrigation schedule wherein a flow of some of said valves is altered as said irrigation system passes over a defined portion of said irrigation area; and g. wherein said irrigation system executes said irrigation schedule.

12. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein: a. said irrigation system is a center pivot system with, a series of linear boom assemblies; and b. a UAV base station is provided on one of said boom assemblies; and c. said unmanned aerial vehicle is docked within said UAV base station when not in use.

13. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein said processor-based control system includes a processor in a location other than said irrigation area.

14. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein said processor-based control system includes a processor located in said irrigation system.

15. A method for optimizing the Irrigation of an irrigation area as recited in claim 11, comprising said control system turning a particular valve off as said particular valve passes over a defined portion of said irrigation area.

16. A method for optimizing the irrigation of an irrigation area, as recited in claim 11, wherein said condition being sensed is moisture content.

17. A method for optimizing the irrigation of an irrigation area as recited in claim 16, wherein said unmanned aerial vehicle uses a short-wave infrared sensor to sense said moisture content.

18. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein said unmanned aerial vehicle gathers set of data immediately prior to said execution of said irrigation cycle.

19. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein said unmanned aerial vehicle completes said gathering of said set of data within one hour of a commencement of said execution of said irrigation cycle.

20. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein said unmanned aerial vehicle completes said gathering of said set of data within ten minutes of a commencement of said execution of said irrigation cycle.

21. A method for optimizing the irrigation of an irrigation area as recited in claim 1, wherein; a. said irrigation system includes a drive tower that creates a circular wheel track; b. said unmanned aerial vehicle includes a computer vision system that is able to detect said wheel track; and c. said unmanned aerial vehicle flies a pattern over said irrigation area that is based on said wheel rack.

22. A method for optimizing the irrigation of an irrigation area as recited in claim 11, wherein: a. said irrigation system includes a drive lower that creates a circular wheel track; b. said unmanned aerial vehicle includes a computer vision system that is able to detect said wheel track; and c. said unmanned aerial vehicle flies a pattern over said irrigation area that is based on said wheel rack.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0019] FIG. 1 is a perspective view, showing a prior art center pivot irrigation system.

[0020] FIG. 2 is a detailed perspective view, showing the center pivot structure and the first boom assembly of the system from FIG. 1.

[0021] FIG. 3 is a plan view, showing the system from FIG. 1.

[0022] FIG. 4 is a perspective view, showing a prior art UAV.

[0023] FIG. 5 is a detailed perspective view, showing a UAV base station as used in some embodiments of the present invention.

[0024] FIG. 6 is a plan view, showing some exemplary survey data.

[0025] FIG. 7 is a plan view, showing an exemplary survey pattern.

[0026] FIG. 8 is a plan view, showing an exemplary irrigation schedule (“zone map”)

[0027] FIG. 9 is a pan view, showing another exemplary survey pattern.

REFERENCE NUMERALS IN THE DRAWINGS

[0028] 10 center pivot irrigation system

[0029] 12 central pivot structure

[0030] 14 boom assembly

[0031] 16 boom assembly

[0032] 18 boom assembly

[0033] 20 drive tower

[0034] 22 drive tower

[0035] 24 drive tower

[0036] 26 end boom

[0037] 28 collector ring

[0038] 30 elbow

[0039] 32 joint

[0040] 34 pipe

[0041] 36 truss assembly

[0042] 38 guy wire

[0043] 42 drive wheel

[0044] 44 U-coupling

[0045] 46 pendant

[0046] 48 sprinkler head

[0047] 50 flex joint

[0048] 52 irrigation circle

[0049] 54 end boom area

[0050] 56 outer boom area

[0051] 58 middle boom area

[0052] 60 inner boom area

[0053] 62 unmanned aerial vehicle

[0054] 64 frame

[0055] 66 rotor

[0056] 68 sensor array

[0057] 70 landing gear

[0058] 72 UAV landing pad

[0059] 74 mounting chassis

[0060] 76 cover

[0061] 78 hinge

[0062] 80 actuator

[0063] 82 target

[0064] 84 control cable

[0065] 86 outlet

[0066] 88 valve

[0067] 90 connector

[0068] 92 mildly dry region

[0069] 94 moderately dry region

[0070] 96 oversaturated region

[0071] 98 UAV base station

[0072] 100 flight path

[0073] 102 transceiver

[0074] 104 CPU/memory

[0075] 106 sprinkler coverage arc

[0076] 108 wheel tracks

DETAILED DESCRIPTION OF THE INVENTION

[0077] The present invention seeks to use real-time or near-real-time data collected by an unmanned aerial vehicle (“UAV”) to modify the application of water and waterborne substances through an irrigation system. The invention can be used with any desired type of irrigation system. However, since a center pivot system was used for the description of the prior art, the embodiments disclosed, hereafter pertain to a center pivot system.

[0078] The UAV is preferably stored on or near the irrigation area to be surveyed so that it does not waste time in transit. A landing pad and housing could be provided on a pole near the field. However, since the irrigation system already provides a substantial structure, it is preferable to use this structure to house the UAV. Returning briefly to FIG. 2, the reader will recall that a boom assembly of a center pivot system includes a large pipe 34. FIG. 5 shows an enlarged view of UAV base station 98 mounted on pipe 34.

[0079] The UAV base station includes a flat UAV landing pad 72 atop a mounting chassis 74. The mounting chassis in this version is attached to pipe 74 using two metal straps. Cover 76 pivots down over UAV landing pad 72 (via hinge 78). Actuator 80 moves the cover between the open position (shown) and a closed position where it completely covers the UAV landing pad.

[0080] Targets 82 are provided to guide the UAV onto the pad. There are many known UAV guidance systems and the invention is not limited to any particular one. However, in this version, a GPS receiver on board the UAV is used to guide it to a position just over the landing pad. A digital vision system in the UAV's sensor array then looks for the targets 82 and uses these to guide the UAV to a landing in the center of the pad. Once the UAV has landed, actuator 80 closes cover 76 over the UAV in order to protect it. The UAV remains under the cover when not in use and is thereby protected from sun, wind, and rain.

[0081] The UAV landing pad includes an inductive charging system that recharges the UAV's internal batteries as the UAV sits on the pad. Energy may be provided from a solar panel or panels on top of cover 76. However, as power is typically provided along the boom assembly, this power may be tapped to recharge the UAV batteries. For example, control cable 84 typically carries a low-power DC signal with sufficient capacity to recharge the UAV batteries.

[0082] FIG. 5 shows additional details of an irrigation system modified according to the present invention. In the prior art, each U-coupling 44 is connected to an out let 86 along the top of pipe 34. In the inventive embodiment shown, a valve 88 controls the flow of liquid from outlet 86 into U-coupling 44 (and from thence to the attached sprinkler head or heads). Each valve 88 is in turn connected by a connector 90 to control cable 84. Control cable 84 contains multiple conductors.

[0083] Control cable 84 is connected to CPU/memory 104. The CPU (central processing unit)/memory may be remotely located or may be part of a control box assembly mounted an center pivot structure 12. It is attached to a transceiver 102 configured to communicate with the UAV.

[0084] In operation, the UAV flies a pattern to collect data in the irrigation area. The UAV or its associated landing station then transfers the data collected to CPU/memory 104 via transceiver 102. The CPU/memory then uses the data to create a desired operating scheme for the irrigation system as a whole and valves 88 in particular. Some exemplary operating schemes will now be described in more detail.

[0085] FIG. 6 shows a possible state for irrigation circle 52. The moisture content of the soil and/or crop within the circle is not evenly distributed. Oversaturated region 96 exists, as do mildly dry region 92 and moderately dry region 94. Prior art irrigation systems are typically designed to provide a uniform distribution of water. If this is done in the field shown in FIG. 6, some regions will be overwatered and others will be underwatered.

[0086] Shortly before an irrigation cycle is initiated, the UAV is dispatched to survey the irrigation circle. FIG. 7 shows this operation. UAV 62 flies away from UAV base station 98 and flies along flight path 100. Flight path 100 is typically a prescribed pattern that provides good coverage of irrigation circle 52 (The irrigation circle is the irrigation area in question for a center pivot system. In other system types the irrigation area will not be a circle). In the example shown, the pattern is a series of parallel paths.

[0087] Existing flight planning software may be used to create a desired flight pattern and the present invention is by no means limited to any one pattern. If, for example, GPS data is unavailable on a particular day, the UAV may be equipped with a computer vision, system that allows it to fly a pattern based on the wheel tracks of the irrigation system itself. Switching to vision-based information may also suggest the desirability of a different flight pattern and such a flight pattern can be stored in memory for use when needed.

[0088] The UAV may use any desired sensor or sensors. As one example, the SWIR return serves as a good proxy for moisture content. The UAV may use a SWIR sensor to gather data. The UAV correlates this data with GPS-based positional data and preferably time data as well. In other words, each datum point would have a SWIR value, a GPS position value, and a time value.

[0089] The UAV then downloads the data acquired to CPU/memory 104. Software running on the CPU then analyzes the data. Positional accuracy is important for this analysis. It may be desirable to provide a “reference GPS receiver” that is located on a point fixed by an accurate survey. Such a point is preferably near the field. The signal from this reference GPS receiver may be used to determine the existence of any positional errors in the GPS system on board the UAV at any time. These positional errors may then be backed out of the GPS data.

[0090] A simple example will explain this process. The reference location for the reference GPS receiver is very accurately surveyed. The reference receiver is then fixedly attached to this point. If the reference receiver receives and decodes a GPS signal indicating that it is 2 meters west of its known position, then the software running on the CPU “knows” to move all GPS data taken at that time 2 meters to the east. This technique is well known in the field of surveying and may be used to greatly enhance the accuracy of mobile GPS systems.

[0091] The software eliminates positional overlaps to create a unified and accurate “snapshot” of conditions within the irrigation circle. This data is then used to create an irrigation schedule or zone map. FIG. 8 shows an exemplary irrigation schedule. A portion of the motion of the boom assembly is shown as an arc in the view. Individual sprinklers are designated as A-M. Each sprinkler covers a sprinkler coverage arc 106. At certain portions during the travel of the booms individual sprinklers are turned off. These are designated as exclusion periods 104 in the view. In this example the valves 88 are simple on/off devices. A maximum saturation for all areas would be achieved by leaving all valves on all the time. A selected reduction in some areas is achieved by turning some valves off some of the time.

[0092] In other embodiments a more complicated valve might be employed. This type of valve could have three positions or more (such an off, on-low, and on-high). This would give the system more variability in control.

[0093] It is preferable for the UAV to fly a pattern and build a data set immediately before an irrigation cycle begins. That way the very latest information is used. The term “immediately” in this context means within 8 hours and preferably within 1 hour. Even more preferably, the data set is completed within 10 minutes of the initiation of the irrigation cycle.

[0094] The flight path used for the survey may be driven in different ways. As described previously, GPS data may be used to define the flight path. However, GPS data may not always be available. FIG. 9 shows a plan view of a line of spans using three drive towers 20, 22, 24. As those skilled in the art will know, each drive tower tends to create its own circular wheel track 108. These wheel tracks may be detected by a computer vision system located on the UAV. The UAV may easily follow the wheel track. Flight path 100 in the example of FIG. 9 starts at UAV base station 98 and then follows a wheel track. While the UAV is flying this pattern, it will capture images from an altitude in regards to camera resolution for centering the image based on the wheel track. The image will typically be rectangular. Because the UAV is flying a circular pattern the images should be taken at intervals that will produce an overlap between the edge of one image and the edge of the adjacent image. Images can be stitched together (using software) by connecting and overlapping edges by calculating the angle direction in which the UAV is in regards to the wheel track and previous image captured. This will create multiple point overlap for images in a circular direction. The software can then be used to create a unified data set for the area if desired).

[0095] In this example, the UAV includes a digital flux compass that is able to measure the UAV's heading within +/−5 degrees. Once the UAV has followed a wheel track through 330 degrees of heading change, the UAV is programmed to make a 90 degree left turn and proceed outbound until it intersects the next wheel track. The UAV then follows the next wheel track and continues the process. Obviously there are many different ways to use the wheel tracks to guide the survey pattern. Other existing features may be used—such as the boundary between irrigated and non-irrigated regions.

[0096] The central processing unit described may assume a wide variety of forms. In general an irrigation schedule or plan is created by control software running on a processor-based control system. The processor-based system may include a remote server or servers that actually creates the irrigation schedule and then downloads it to a programmable logic controller (including another processor) located on or near the irrigation system itself. Thus, although the control software may be run on a single processor the inventive method described herein may also be carried out using multiple processors that are not in the same location.

[0097] Looking again at the irrigation plan of FIG. 8, those skilled in the art will realize that the angular position of the line of irrigation booms is important to the execution of the plan. Returning to FIG. 2, the reader should note that collector ring 28 typically includes an angular position sensor in addition to the other slip rings. This angular position sensor “tells” the control software where the booms are in their slow movement around the irrigation circle. Thus, the control software knows when a particular sprinkler head is passing over a particular arc segment that is scheduled to receive more or less liquid. The control software then modulates the valve feeding that sprinkler head accordingly (“modulation” meaning simply changing the state of flow through the valve).

[0098] Other embodiments of the invention will include other features, such as:

[0099] 1. The valves may be controlled wirelessly, with only the power signal being hard-wired;

[0100] 2. A UAV stored in a UAV base station on one center pivot boom may be used to acquire data for one or more other separate center pivot irrigation circles (with the data acquired being loaded into a CPU/memory associated with the other center pivot system; and

[0101] 3. Digital video camera sensors may be used on the UAV to build an accurate visible-light map of the irrigation circle.

[0102] The preceding description contains significant detail regarding the novel aspects of the present invention. It is should not be construed, however, as limiting the scope of the invention but rather as providing illustrations of the preferred embodiments of the invention. Thus, the scope of the invention should be fixed by the claims ultimately drafted, rather than by the examples given.